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a better approach to merge new manifolds on multithreaded CPU dispatcher

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This commit is contained in:
Anis
2019-12-30 02:17:59 +01:00
parent c9a0646bda
commit de9ac113c4
2 changed files with 15 additions and 8 deletions
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22
src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
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@@ -28,6 +28,7 @@ subject to the following restrictions:
btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize) btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize)
: btCollisionDispatcher(config) : btCollisionDispatcher(config)
{ {
m_batchManifoldsPtr.resize(btGetTaskScheduler()->getNumThreads());
m_batchUpdating = false; m_batchUpdating = false;
m_grainSize = grainSize; // iterations per task m_grainSize = grainSize; // iterations per task
} }
@@ -65,6 +66,10 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionO
manifold->m_index1a = m_manifoldsPtr.size(); manifold->m_index1a = m_manifoldsPtr.size();
m_manifoldsPtr.push_back(manifold); m_manifoldsPtr.push_back(manifold);
} }
else
{
m_batchManifoldsPtr[btGetCurrentThreadIndex()].push_back(manifold);
}
return manifold; return manifold;
} }
@@ -121,7 +126,7 @@ struct CollisionDispatcherUpdater : public btIParallelForBody
void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher)
{ {
int pairCount = pairCache->getNumOverlappingPairs(); const int pairCount = pairCache->getNumOverlappingPairs();
if (pairCount == 0) if (pairCount == 0)
{ {
return; return;
@@ -136,16 +141,17 @@ void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache*
btParallelFor(0, pairCount, m_grainSize, updater); btParallelFor(0, pairCount, m_grainSize, updater);
m_batchUpdating = false; m_batchUpdating = false;
// reconstruct the manifolds array to ensure determinism // merge new manifolds, if any
m_manifoldsPtr.resizeNoInitialize(0); for (int i = 0; i < m_batchManifoldsPtr.size(); ++i)
btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr();
for (int i = 0; i < pairCount; ++i)
{ {
if (btCollisionAlgorithm* algo = pairs[i].m_algorithm) btAlignedObjectArray<btPersistentManifold*>& batchManifoldsPtr = m_batchManifoldsPtr[i];
for (int j = 0; j < batchManifoldsPtr.size(); ++j)
{ {
algo->getAllContactManifolds(m_manifoldsPtr); m_manifoldsPtr.push_back(batchManifoldsPtr[j]);
} }
batchManifoldsPtr.resizeNoInitialize(0);
} }
// update the indices (used when releasing manifolds) // update the indices (used when releasing manifolds)

1
src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
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@@ -30,6 +30,7 @@ public:
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) BT_OVERRIDE; virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) BT_OVERRIDE;
protected: protected:
btAlignedObjectArray<btAlignedObjectArray<btPersistentManifold*>> m_batchManifoldsPtr;
bool m_batchUpdating; bool m_batchUpdating;
int m_grainSize; int m_grainSize;
}; };